pyrobot.robot.khepera.KheperaRobot

Package pyrobot :: Package robot :: Module khepera :: Class KheperaRobot

Class KheperaRobot

Robot --+
        |
       KheperaRobot

Method Summary
	`__init__(self, port, simulator, rate, subtype)`
	`adjustSpeed(dev)`
	`deadReckon(self)` Called after each little update in position.
	`disconnect(self)` Disconnects the robot object from the server or simulator.
	`isStall(self, dev)`
	`move(self, trans, rotate)`
	`readData(self)`
	`rotate(dev, value)`
	`sendMsg(self, msg)`
	`startDeviceBuiltin(self, item)` Calls back to a subclass to start a device from there.
	`translate(dev, value)`
	`update(self)` Updates the robot.
Inherited from Robot
	`connect(self)` Connects the robot object to the server or simulator.
	`destroy(self)` This method removes all of the devices.
	`getDevice(self, item)` Returns the first device of a type.
	`getDevices(self)` Returns the list of device types that have ben loaded.
	`getSupportedDevices(self)` Returns the list of builtin device types.
	`hasA(self, dtype)` Returns 1 if robot has a device of type dtype, else 0.
	`localize(self, x, y, thr)` Set the x,y,thr pose of where the robot thinks it is.
	`motors(self, leftValue, rightValue)` Move function that takes desired motor values and converts to trans and rotate.
	`printView(self, thing, toplevel, indent)` A printable representation of the robot's attribute tree.
	`removeDevice(self, item, number)` Removes a device (or all of them) of a particular type.
	`requires(self, feature)` Takes a list/feature name and raises and exception if not supported.
	`setRangeSensor(self, name, index)` Change the default range sensor.
	`setup(self, **kwargs)` Is called from __init__ so users don't have to call parent constructor and all the gory details.
	`startDevice(self, item, **args)` Loads and starts a device.
	`startDevices(self, item, override, **args)` Load devices can take a dict, list, builtin name, or filename...
	`stop(self)` Short for robot.move(0,0).
	`stopDevice(self, item)` Stop a device from updating.
	`supports(self, feature)` See if this robot interface supports a particular feature.
	`updateDevices(self)` Updates all of the robot's devices.

Method Details

deadReckon(self)

Called after each little update in position.
Based on code from Adam R. Bockrath
http://www.dcs.qmul.ac.uk/~adamb/

disconnect(self)

Disconnects the robot object from the server or simulator.

Overrides:: pyrobot.robot.Robot.disconnect (inherited documentation)

startDeviceBuiltin(self, item)

Calls back to a subclass to start a device from there.

Overrides:: pyrobot.robot.Robot.startDeviceBuiltin (inherited documentation)

update(self)

Updates the robot.

Overrides:: pyrobot.robot.Robot.update (inherited documentation)

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